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AP_MotorsCoax: get rid of _motor_to_channel_map

master
Lucas De Marchi 9 years ago committed by Randy Mackay
parent
ec4ebfde83
commit
e938075581
1 changed files with 24 additions and 24 deletions
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  1. 48
      libraries/AP_Motors/AP_MotorsCoax.cpp

48
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -86,14 +86,14 @@ void AP_MotorsCoax::set_update_rate( uint16_t speed_hz )
// set update rate for the two motors // set update rate for the two motors
uint32_t mask2 = uint32_t mask2 =
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]) | 1U << AP_MOTORS_MOT_3 |
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]) ; 1U << AP_MOTORS_MOT_4 ;
hal.rcout->set_freq(mask2, _speed_hz); hal.rcout->set_freq(mask2, _speed_hz);
// set update rate for the two servos // set update rate for the two servos
uint32_t mask = uint32_t mask =
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]) | 1U << AP_MOTORS_MOT_1 |
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]) ; 1U << AP_MOTORS_MOT_2 ;
hal.rcout->set_freq(mask, _servo_speed); hal.rcout->set_freq(mask, _servo_speed);
} }
@ -101,20 +101,20 @@ void AP_MotorsCoax::set_update_rate( uint16_t speed_hz )
void AP_MotorsCoax::enable() void AP_MotorsCoax::enable()
{ {
// enable output channels // enable output channels
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1])); hal.rcout->enable_ch(AP_MOTORS_MOT_1);
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2])); hal.rcout->enable_ch(AP_MOTORS_MOT_2);
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3])); hal.rcout->enable_ch(AP_MOTORS_MOT_3);
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4])); hal.rcout->enable_ch(AP_MOTORS_MOT_4);
} }
// output_min - sends minimum values out to the motor and trim values to the servos // output_min - sends minimum values out to the motor and trim values to the servos
void AP_MotorsCoax::output_min() void AP_MotorsCoax::output_min()
{ {
// send minimum value to each motor // send minimum value to each motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_trim); hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_trim);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_trim); hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_trim);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _throttle_radio_min); hal.rcout->write(AP_MOTORS_MOT_3, _throttle_radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _throttle_radio_min); hal.rcout->write(AP_MOTORS_MOT_4, _throttle_radio_min);
} }
void AP_MotorsCoax::output_armed_not_stabilizing() void AP_MotorsCoax::output_armed_not_stabilizing()
@ -154,10 +154,10 @@ void AP_MotorsCoax::output_armed_not_stabilizing()
motor_out = apply_thrust_curve_and_volt_scaling(motor_out, out_min, _throttle_radio_max); motor_out = apply_thrust_curve_and_volt_scaling(motor_out, out_min, _throttle_radio_max);
} }
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_out); hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_out); hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), motor_out); hal.rcout->write(AP_MOTORS_MOT_3, motor_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), motor_out); hal.rcout->write(AP_MOTORS_MOT_4, motor_out);
} }
// sends commands to the motors // sends commands to the motors
@ -212,10 +212,10 @@ void AP_MotorsCoax::output_armed_stabilizing()
motor_out[AP_MOTORS_MOT_4] = max(motor_out[AP_MOTORS_MOT_4], out_min); motor_out[AP_MOTORS_MOT_4] = max(motor_out[AP_MOTORS_MOT_4], out_min);
// send output to each motor // send output to each motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_out); hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_out); hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), motor_out[AP_MOTORS_MOT_3]); hal.rcout->write(AP_MOTORS_MOT_3, motor_out[AP_MOTORS_MOT_3]);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), motor_out[AP_MOTORS_MOT_4]); hal.rcout->write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]);
} }
// output_disarmed - sends commands to the motors // output_disarmed - sends commands to the motors
@ -239,19 +239,19 @@ void AP_MotorsCoax::output_test(uint8_t motor_seq, int16_t pwm)
switch (motor_seq) { switch (motor_seq) {
case 1: case 1:
// flap servo 1 // flap servo 1
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), pwm); hal.rcout->write(AP_MOTORS_MOT_1, pwm);
break; break;
case 2: case 2:
// flap servo 2 // flap servo 2
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), pwm); hal.rcout->write(AP_MOTORS_MOT_2, pwm);
break; break;
case 3: case 3:
// motor 1 // motor 1
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), pwm); hal.rcout->write(AP_MOTORS_MOT_3, pwm);
break; break;
case 4: case 4:
// motor 2 // motor 2
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), pwm); hal.rcout->write(AP_MOTORS_MOT_4, pwm);
break; break;
default: default:
// do nothing // do nothing

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